Updated swervelib

swervelib/parser/SwerveControllerConfiguration.java

@@ -0,0 +1,59 @@
+package frc.robot.subsystems.swervedrive2.swervelib.parser;
+
+import static frc.robot.subsystems.swervedrive2.swervelib.math.SwerveMath.calculateMaxAngularVelocity;
+
+/**
+ * Swerve Controller configuration class which is used to configure
+ * {@link frc.robot.subsystems.swervedrive2.swervelib.SwerveController}.
+ */
+public class SwerveControllerConfiguration
+{
+
+  /**
+   * Maximum robot speed in meters per second.
+   */
+  public final double     maxSpeed;
+  /**
+   * Maximum angular velocity in rad/s
+   */
+  public final double     maxAngularVelocity;
+  /**
+   * PIDF for the heading of the robot.
+   */
+  public final PIDFConfig headingPIDF;
+  /**
+   * hypotenuse deadband for the robot angle control joystick.
+   */
+  public final double     angleJoyStickRadiusDeadband; // Deadband for the minimum hypot for the heading joystick.
+
+  /**
+   * Construct the swerve controller configuration.
+   *
+   * @param driveCfg                    Drive configuration.
+   * @param headingPIDF                 Heading PIDF configuration.
+   * @param angleJoyStickRadiusDeadband Deadband on radius of angle joystick.
+   */
+  public SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg, PIDFConfig headingPIDF,
+                                       double angleJoyStickRadiusDeadband)
+  {
+    this.maxSpeed = driveCfg.maxSpeed;
+    this.maxAngularVelocity = calculateMaxAngularVelocity(driveCfg.maxSpeed,
+                                                          Math.abs(driveCfg.moduleLocationsMeters[0].getX()),
+                                                          Math.abs(driveCfg.moduleLocationsMeters[0].getY()));
+    this.headingPIDF = headingPIDF;
+    this.angleJoyStickRadiusDeadband = angleJoyStickRadiusDeadband;
+  }
+
+  /**
+   * Construct the swerve controller configuration. Assumes hypotenuse deadband of 0.5 (minimum radius for angle to be
+   * set on angle joystick is .5 of the controller).
+   *
+   * @param driveCfg    Drive configuration.
+   * @param headingPIDF Heading PIDF configuration.
+   */
+  public SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg, PIDFConfig headingPIDF)
+  {
+    this(driveCfg, headingPIDF, 0.5);
+  }
+
+}